I垃圾清运车机械手结构设计与仿真摘要垃圾清运车的爪式机械手系统是本文研究的对象。垃圾桶的抓取、回收、拖动、翻转倾倒、空桶返回复位等行为都是由机械手完成的,机械手是垃圾车的一个组成部分。根据任务书的技术规范和实际目标,规划了机械手的总体结构方案,以及机械手的运动学和结构优化设计。本文涉及的要点如下:机械手结构方案和控制系统的选择,基于电机型号选择的适用参数。建立了机械手的几何模型,研究了机械手系统的工作理论。包括主要零部件的设计。控制器选用PLC,是一种高稳定性的工业控制器,是为恶劣的工业环境专门设计制造的。该控制器使用西门子S7-200PLC,这在中国很普遍。该驱动装置结构满足了设计的所有预期规格和目标。关键词:控制器;PLC;机械手;垃圾清运IIABSTRACTTheclawrobotsystemoftherefuseremovalvehicleisthesubjectofthispaper.Theactionsofgrabbing,retrieving,dragging,turning,tippingandreturningemptybinstoresetareallperformedbythemanipulator,whichisanintegralpartofthewastevehicle.Accordingtothetechnicalspecificationsandpracticalobjectivesoftheassignment,theoverallstructuralsolutionofthemanipulatorisplanned,aswellasthekinematicandstructuraloptimisationdesignofthemanipulator.Themainpointscoveredinthispaperareasfollows:theselectionofthestructuralsolutionandcontrolsystemforthemanipulator,theapplicableparametersbasedonthemotormodelselection.Thegeometricmodelofthemanipulatorisestablishedandtheworkingtheoryofthemanipulatorsystemisstudied.Thedesignofthemaincomponentsisincluded.ThecontrollerwasselectedasaPLC,whichisahighlystableindustrialcontrollerdesignedandmanufacturedspecificallyforharshindustrialenvironments.ThecontrollerwasselectedfromaSiemensS7-200PLC,whichiscommonlyusedinChina.Thedrivewasconstructedtomeetalltheexpectedspecificationsandobjectivesofthedesign.Keywords:Controllers;PLCs;robots;wasteremovalIII目录1绪论.........................................................11.1研究背景...........................................................11.2国内外研究现状和趋势...............................................21.2.1国外研究现状及趋势............................................21.2.1国外研究现状及趋势............................................21.3本课题的研究内容...................................................32设计方案的论证...............................................52.1机械手的总体设计...................................................52.1.1机械手总体结构的类型.........................................52.1.2设计具体采用方案.............................................62.2机械手工作原理.....................................................72.3机械手腰座结构的设计...............................................82.3.1机械手腰座结构的设计要求.....................................82.4机械手手臂的结构设计...............................................82.5机械手腕部的结构设计...............................................92.6机械手末端执行器(手爪)的结构设计.................................92.7机械手的机械传动机构的设计........................................102.7.1设计具体采用方案............................................102.8机械手驱动系统的设计..............................................102.9机械人手臂的平衡机构设计..........................................113理论分析和设计计算..........................................113.1液压传动系统设计计算..............................................113.1.1确定液压系统基本方案........................................113.1.2拟定液压执行元件运动控制回路.......